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66 lines
2.2 KiB
66 lines
2.2 KiB
#pragma once
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#include <string>
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#include <cmath>
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#include <memory>
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#include <unordered_map>
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#include <vector>
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#include <eigen3/Eigen/Core>
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#include <eigen3/Eigen/Dense>
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#include "generated/live_kf_constants.h"
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#include "rednose/helpers/ekf_sym.h"
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#define EARTH_GM 3.986005e14 // m^3/s^2 (gravitational constant * mass of earth)
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using namespace EKFS;
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Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec);
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Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat);
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std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec);
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std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec);
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class LiveKalman {
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public:
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LiveKalman();
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void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
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void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
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void init_state(const Eigen::VectorXd &state, double filter_time);
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Eigen::VectorXd get_x();
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MatrixXdr get_P();
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double get_filter_time();
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std::vector<MatrixXdr> get_R(int kind, int n);
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std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
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std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
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std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
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std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
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void predict(double t);
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const Eigen::VectorXd &get_initial_x();
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const MatrixXdr &get_initial_P();
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const MatrixXdr &get_fake_gps_pos_cov();
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const MatrixXdr &get_fake_gps_vel_cov();
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const MatrixXdr &get_reset_orientation_P();
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MatrixXdr H(const Eigen::VectorXd &in);
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private:
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std::string name = "live";
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std::shared_ptr<EKFSym> filter;
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int dim_state;
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int dim_state_err;
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Eigen::VectorXd initial_x;
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MatrixXdr initial_P;
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MatrixXdr fake_gps_pos_cov;
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MatrixXdr fake_gps_vel_cov;
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MatrixXdr reset_orientation_P;
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MatrixXdr Q; // process noise
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std::unordered_map<int, MatrixXdr> obs_noise;
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};
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